/*
This file is part of CanFestival, a library implementing CanOpen Stack.

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#if defined(WIN32) && !defined(__CYGWIN__)
#include <windows.h>
#include "getopt.h"
void pause(void)
{
    system("PAUSE");
}
#else
#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <stdlib.h>
#include <signal.h>
#endif

#include "canfestival.h"
//#include <can_driver.h>
//#include <timers_driver.h>

#include "Master.h"
#include "Slave.h"
#include "TestMasterSlave.h"

UNS32 OnMasterMap1Update(CO_Data* d, const indextable* unsused_indextable, UNS8 unsused_bSubindex)
{
    eprintf("OnMasterMap1Update:%d\n", MasterMap1);
    return 0;
}

s_BOARD SlaveBoard = {"0", "125K"};
s_BOARD MasterBoard = {"1", "125K"};

#if !defined(WIN32) || defined(__CYGWIN__)
void catch_signal(int sig)
{
    signal(SIGTERM, catch_signal);
    signal(SIGINT, catch_signal);
    eprintf("Got Signal %d\n", sig);
}
#endif

void help(void)
{
    printf("**************************************************************\n");
    printf("*  TestMasterSlave                                           *\n");
    printf("*                                                            *\n");
    printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
    printf("*  nodes in the same process. A master and a slave. Both     *\n");
    printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
    printf("*  SDO and PDO. Master configure heartbeat producer time     *\n");
    printf("*  at 1000 ms for slave node-id 0x02 by concise DCF.         *\n");
    printf("*                                                            *\n");
    printf("*   Usage:                                                   *\n");
    printf("*   ./TestMasterSlave  [OPTIONS]                             *\n");
    printf("*                                                            *\n");
    printf("*   OPTIONS:                                                 *\n");
    printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
    printf("*                                                            *\n");
    printf("*    Slave:                                                  *\n");
    printf("*     -s : bus name [\"0\"]                                    *\n");
    printf("*     -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
    printf("*                                                            *\n");
    printf("*    Master:                                                 *\n");
    printf("*     -m : bus name [\"1\"]                                    *\n");
    printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
    printf("*                                                            *\n");
    printf("**************************************************************\n");
}

/***************************  INIT  *****************************************/
void InitNodes(CO_Data* d, UNS32 id)
{
    /****************************** INITIALISATION SLAVE *******************************/
    if (strcmp(SlaveBoard.baudrate, "none"))
    {
        setNodeId(&TestSlave_Data, 0x02);
        /* init */
        setState(&TestSlave_Data, Initialisation);
    }
    /****************************** INITIALISATION MASTER *******************************/
    if (strcmp(MasterBoard.baudrate, "none"))
    {
        RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
        /* Defining the node Id */
        setNodeId(&TestMaster_Data, 0x01);
        /* init */
        setState(&TestMaster_Data, Initialisation);
    }
}

/***************************  EXIT  *****************************************/
void Exit(CO_Data* d, UNS32 id)
{
    if (strcmp(MasterBoard.baudrate, "none"))
    {
        masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
        //Stop master
        setState(&TestMaster_Data, Stopped);
    }
}

/****************************************************************************/
/***************************  MAIN  *****************************************/
/****************************************************************************/
int main(int argc, char** argv)
{
    int c;
    extern char* optarg;
    char* LibraryPath = "../../drivers/can_virtual/libcanfestival_can_virtual.so";
    while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
    {
        switch (c)
        {
        case 's' :
            if (optarg[0] == 0)
            {
                help();
                exit(1);
            }
            SlaveBoard.busname = optarg;
            break;
        case 'm' :
            if (optarg[0] == 0)
            {
                help();
                exit(1);
            }
            MasterBoard.busname = optarg;
            break;
        case 'S' :
            if (optarg[0] == 0)
            {
                help();
                exit(1);
            }
            SlaveBoard.baudrate = optarg;
            break;
        case 'M' :
            if (optarg[0] == 0)
            {
                help();
                exit(1);
            }
            MasterBoard.baudrate = optarg;
            break;
        case 'l' :
            if (optarg[0] == 0)
            {
                help();
                exit(1);
            }
            LibraryPath = optarg;
            break;
        default:
            help();
            exit(1);
        }
    }
#if !defined(WIN32) || defined(__CYGWIN__)
    /* install signal handler for manual break */
    signal(SIGTERM, catch_signal);
    signal(SIGINT, catch_signal);
#endif
    // Also Windows needs to initialize the Timer!
    // Moving this line into the ifndef leads to a lethal crash!
    TimerInit();
#ifndef NOT_USE_DYNAMIC_LOADING
    if (LoadCanDriver(LibraryPath) == NULL)
    {
        printf("Unable to load library: %s\n", LibraryPath);
    }
#endif
    // Open CAN devices
    if (strcmp(SlaveBoard.baudrate, "none"))
    {
        TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
        TestSlave_Data.initialisation = TestSlave_initialisation;
        TestSlave_Data.preOperational = TestSlave_preOperational;
        TestSlave_Data.operational = TestSlave_operational;
        TestSlave_Data.stopped = TestSlave_stopped;
        TestSlave_Data.post_sync = TestSlave_post_sync;
        TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
        TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
        TestSlave_Data.post_emcy = TestSlave_post_emcy;
        if (!canOpen(&SlaveBoard, &TestSlave_Data))
        {
            eprintf("Cannot open Slave Board (%s,%s)\n", SlaveBoard.busname, SlaveBoard.baudrate);
            goto fail_slave;
        }
    }
    if (strcmp(MasterBoard.baudrate, "none"))
    {
        TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
        TestMaster_Data.initialisation = TestMaster_initialisation;
        TestMaster_Data.preOperational = TestMaster_preOperational;
        TestMaster_Data.operational = TestMaster_operational;
        TestMaster_Data.stopped = TestMaster_stopped;
        TestMaster_Data.post_sync = TestMaster_post_sync;
        TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
        TestMaster_Data.post_emcy = TestMaster_post_emcy;
        TestMaster_Data.post_SlaveBootup = TestMaster_post_SlaveBootup;
        if (!canOpen(&MasterBoard, &TestMaster_Data))
        {
            eprintf("Cannot open Master Board (%s,%s)\n", MasterBoard.busname, MasterBoard.baudrate);
            goto fail_master;
        }
    }
    // Start timer thread
    StartTimerLoop(&InitNodes);
    // wait Ctrl-C
    pause();
    // Stop timer thread
    StopTimerLoop(&Exit);
    // Close CAN devices (and can threads)
    if (strcmp(MasterBoard.baudrate, "none"))
    {
        canClose(&TestMaster_Data);
    }
fail_master:
    if (strcmp(SlaveBoard.baudrate, "none"))
    {
        canClose(&TestSlave_Data);
    }
fail_slave:
    TimerCleanup();
    return 0;
}
